Motor control device and method of controlling motor

Abstract

A motor control device includes output command calculation circuitry and inertial load value calculation circuitry. The output command calculation circuitry is configured to calculate a motor output command, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor. The inertial load value calculation circuitry is configured to calculate an estimated inertial load value with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, and configured to calculate the inertial load value, based on the estimated inertial load value.

What is claimed is: 
     
       1. A motor control device comprising:
 output command calculation circuitry configured to calculate a motor output command, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor; and 
 inertial load value calculation circuitry configured to calculate an estimated inertial load value with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, and configured to calculate the inertial load value, based on the estimated inertial load value, the inertial load value calculation circuitry comprising:
 first state amount calculation circuitry configured to calculate a first state amount, based on a state setting and the motor actual output; 
 second state amount calculation circuitry configured to calculate a second state amount, based on the state setting and the motor output command; and 
 adaptive identification calculation circuitry configured to calculate the estimated inertial load value, based on the first state amount and the second state amount. 
 
 
     
     
       2. The motor control device according to  claim 1 , further comprising
 output correction value calculation circuitry configured to calculate an output correction value, based on the motor actual output and the motor output command, wherein 
 the output command calculation circuitry comprises:
 first output command calculation circuitry configured to calculate an output command, based on the motor acceleration command and the inertial load value; and 
 second output command calculation circuitry configured to calculate the motor output command, based on the output command and the output correction value. 
 
 
     
     
       3. The motor control device according to  claim 2 , wherein
 the output correction value calculation circuitry is configured to estimate a disturbance of the motor to calculate the output correction value. 
 
     
     
       4. The motor control device according to  claim 1 , wherein
 the inertial load value calculation circuitry comprises
 inertial load value change circuitry configured to change the inertial load value, based on the estimated inertial load value. 
 
 
     
     
       5. The motor control device according to  claim 4 , wherein
 the inertial load value change circuitry is configured to change the inertial load value, based on a reference inertial load range and the estimated inertial load value. 
 
     
     
       6. The motor control device according to  claim 5 , wherein
 the inertial load value change circuitry is configured to calculate, as an estimated inertial load ratio, a ratio of a target inertial load value obtained by subtracting the reference inertial load value from the estimated inertial load value to a reference inertial load value indicative of a magnitude of inertia of a movable member in the motor, and 
 the inertial load value change circuitry is configured to increase the inertial load value when the estimated inertial load ratio is larger than an upper limit value of the reference inertial load range. 
 
     
     
       7. The motor control device according to  claim 6 , wherein
 the inertial load value change circuitry is configured to increase the inertial load value with the estimated inertial load value when the estimated inertial load ratio is larger than the upper limit value of the reference inertial load range. 
 
     
     
       8. The motor control device according to  claim 5 , wherein
 the inertial load value change circuitry is configured to calculate, as an estimated inertial load ratio, a ratio of a target inertial load value obtained by subtracting the reference inertial load value from the estimated inertial load value to a reference inertial load value indicative of a magnitude of inertia of a movable member in the motor, and 
 the inertial load value change circuitry is configured to decrease the inertial load value when the estimated inertial load ratio is smaller than a lower limit value of the reference inertial load range. 
 
     
     
       9. The motor control device according to  claim 8 , wherein
 the inertial load value change circuitry is configured to decrease the inertial load value with the estimated inertial load value when the estimated inertial load ratio is smaller than the lower limit value of the reference inertial load range. 
 
     
     
       10. The motor control device according to  claim 1 , wherein
 the inertial load value calculation circuitry is configured to calculate the inertial load value by outputting the estimated inertial load value as the inertial load value to the output command calculation circuitry. 
 
     
     
       11. The motor control device according to  claim 1 , wherein
 the inertial load value calculation circuitry is configured to calculate the estimated inertial load value with the adaptive observer, based on the motor actual output and the motor output command, without directly using the motor acceleration command and a command upstream from the motor acceleration command. 
 
     
     
       12. The motor control device according to  claim 1 , wherein
 the inertial load value includes an inertia moment. 
 
     
     
       13. The motor control device according to  claim 1 , wherein
 the inertial load value includes an inertial mass. 
 
     
     
       14. A method of controlling a motor, comprising:
 calculating a motor output command by output command calculation circuitry, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor; 
 calculating an estimated inertial load value by an inertial load value calculation circuitry with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, the calculating of the estimated inertial load value comprising:
 calculating a first state amount by first state amount calculation circuitry of the inertial load value calculation circuitry, based on a state setting and the motor actual output; 
 calculating a second state amount by second state amount calculation circuitry of the inertial load value calculation circuitry, based on the state setting and the motor output command; and 
 calculating the estimated inertial load value by adaptive identification calculation circuitry of the inertial load value calculation circuitry, based on the first state amount and the second state amount; and 
 
 calculating the inertial load value by the inertial load value calculation circuitry, based on the estimated inertial load value. 
 
     
     
       15. The motor control method according to  claim 14 , further comprising
 calculating an output correction value by output correction value calculation circuitry, based on the motor actual output and the motor output command, wherein 
 the calculating of the motor output command comprises:
 calculating an output command by the output command calculation circuitry, based on the motor acceleration command and the inertial load value; and 
 calculating the motor output command by the output command calculation circuitry, based on the output command and the output correction value. 
 
 
     
     
       16. The motor control method according to  claim 15 , wherein
 the calculating of the output correction value includes estimating a disturbance of the motor to calculate the output correction value. 
 
     
     
       17. The motor control method according to  claim 14 , wherein
 the calculating of the estimated inertial load value includes outputting the estimated inertial load value as the inertial load value to the output command calculation circuitry to calculate the inertial load value.